Event-Triggered Scheme-Based Adaptive PID Algorithm for Path-Tracking Control of Aquatic-Air Amphibious Submarines

Water-air amphibious underwater vehicles (AUVs) have gained significant attention due to their applications in military, civilian, and scientific fields. However, challenges remain in parameter mismatches and poor controller generalization during water-air transitions. This paper proposes an event-triggered adaptive PID path-tracking controller. First, a high-precision water-air dynamics model is developed to address parameter mismatch caused by abrupt medium changes. Second, an event-triggered double-closed-loop PID control system is designed to improve controller generalization. Simulation results show minimal tracking errors (position error below 0.1m) and robust stability during transitions, effectively tackling critical challenges and providing insights for related product design.